基于机器视觉的自主式救援机器人的研究

本文将面向自主式救援机器人,从现阶段日本、中国对自主式救援机器人研究现状出发,深入分析自主式救援机器人的功能需求和硬件设备需求,并且结合自主式救援机器人工作中所具备的功能进行研究。在灾害事故当中,由于环境复杂救援人员难以勘探真实的灾害环境,从而影响救援效果,而自主式救援机器人则能够通过自身强大的移动、远程通信、监测与跟踪等功能为救援人员提供帮助。面对灾害事故频发的现代化社会,救援机器人的研发已成为全球重要的研究事项。     

基于KQML语言的多自主移动机器人仿真系统

用JAVA语言开发了栅格环境下的多自主移动机器人仿真系统,通过KQML语言通信模拟了多个自主的移动机器人,机器人的自主性主要体现在自主感知环境和自主进行路径规划、任务执行和安全导航等工作．该仿真系统具有平台无关性、地图无关性、算法无关性以及机器人配置的无关性,为多自主机器人系统的研究提供了一个可借鉴的平台．     

Development of A Behavior‐Based Cooperative Search Strategy for Distributed Autonomous Mobile Robots Using Zigbee Wireless Sensor Network

To achieve efficient and objective search tasks in an unknown environment, a cooperative search strategy for distributed autonomous mobile robots is developed using a behavior‐based control framework with individual and group behaviors. The sensing information of each mobile robot activates the individual behaviors to facilitate autonomous search tasks to avoid obstacles. An 802.15.4 ZigBee wireless sensor network then activates the group behaviors that enable cooperative search among the mobile robots. An unknown environment is dynamically divided into several sub‐areas according to the locations and sensing data of the autonomous mobile robots. The group behaviors then enable the distributed autonomous mobile robots to scatter and move in the search environment. The developed cooperative search strategy successfully reduces the search time within the test environments by 22.67% (simulation results) and 31.15% (experimental results).     

Multi-robot cooperation in the MARTHA project

The MARTHA project objectives are the control and the management of a fleet of autonomous mobile robots for transshipment tasks in harbors, airports and marshalling yards. One of the most challenging and key problems of the MARTHA project is multi-robot cooperation. A general concept for the control of a large fleet of autonomous mobile robots has been developed, implemented and validated in the framework of the MARTHA project. This is the first study in the autonomous mobile robot field to add multi-robot cooperation capabilities to such a large fleet of robots     

自动避障和火焰搜索在智能灭火机器人中的实现

针对目前已有的硬件条件,从硬件和软件两方面描述了自动避障和火焰搜索在智能灭火机器人中的实现方法.现场运行实验表明,该系统能够较好地实现灭火机器人的自动避障和火焰搜索.     

高精度激光测距下的机器人自主避障控制

在机器人自主避障过程中,由于传感器数据的误差会降低机器人感知和决策的准确性,从而影响机器人自主避障能力。为此,提出高精度激光测距下的机器人自主避障控制方法。通过设计机器人体系结构,建立机器人运动学模型,为机器人避障控制提供依据。采用高精度激光测距技术,构建机器人移动场地地形。通过自适应阈值方法,完成机器人的自主避障控制。实验结果表明,所提方法的机器人自主避障控制效果好,且障碍物位置测试值与实际位置值的误差保持在0.5m以内,具有较高的避障控制精确度。     

自主吸尘机器人的研究现状

详细评述了自主吸尘机器人的研究特点和国内外的研究现状，分析了多传感器融合、环境建模、定位和路径规划等关键技术，指出了其中的难点和面临的问题．同时，探讨了自主吸尘机器人的发展趋势和未来的研究重点．     

Evolving autonomous specialization in congested path formation task of robotic swarms

Redundancy in the number of robots is a fundamental feature of robotic swarms to confer robustness, flexibility, and scalability. However, robots tend to interfere with each other in a case, where multiple robots gather in a spatially limited environment. The aim of this paper is to understand how a robotic swarm develops an effective strategy to manage congestion. The controllers of the robots are obtained by an evolutionary robotics approach. The strategy of managing congestion is observed in the process of generating a collective path of robots visiting two landmarks alternately. The robotic swarm exhibits autonomous specialization that the robots traveling inside the path activate the LEDs, while the robots in the outer side deactivate them. We found that the congestion is regulated in an emergent way of autonomous specialization by the result of an artificial evolution.     

Towards cooperation of heterogeneous,autonomous robots: A case study of humanoid and wheeled robots

In this paper a case study of the cooperation of a strongly heterogeneous autonomous robot team, composed of a highly articulated humanoid robot and a wheeled robot with largely complementing and some redundant abilities is presented. By combining strongly heterogeneous robots the diversity of achievable tasks increases as the variety of sensing and motion abilities of the robot system is extended, compared to a usually considered team of homogeneous robots. A number of methodologies and technologies required in order to achieve the long-term goal of cooperation of heterogeneous autonomous robots are discussed, including modeling tasks and robot abilities, task assignment and redistribution, robot behavior modeling and programming, robot middleware and robot simulation. Example solutions and their application to the cooperation of autonomous wheeled and humanoid robots are presented in this case study. The scenario describes a tightly coupled cooperative task, where the humanoid robot and the wheeled robot track a moving ball, which is to be approached and kicked by the humanoid robot into a goal. The task can be fulfilled successfully by combining the abilities of both robots.     

Whole-Body Motion Generation Integrating Operator's Intention and Robot's Autonomy in Controlling Humanoid Robots

This paper introduces a framework for whole-body motion generation integrating operator's control and robot's autonomous functions during online control of humanoid robots. Humanoid robots are biped machines that usually possess multiple degrees of freedom (DOF). The complexity of their structure and the difficulty in maintaining postural stability make the whole-body control of humanoid robots fundamentally different from fixed-base manipulators. Getting hints from human conscious and subconscious motion generations, the authors propose a method of generating whole-body motions that integrates the operator's command input and the robot's autonomous functions. Instead of giving commands to all the joints all the time, the operator selects only the necessary points of the humanoid robot's body for manipulation. This paper first explains the concept of the system and the framework for integrating operator's command and autonomous functions in whole-body motion generation. Using the framework, autonomous functions were constructed for maintaining postural stability constraint while satisfying the desired trajectory of operation points, including the feet, while interacting with the environment. Finally, this paper reports on the implementation of the proposed method to teleoperate two 30-DOF humanoid robots, HRP-1S and HRP-2, by using only two 3-DOF joysticks. Experiments teleoperating the two robots are reported to verify the effectiveness of the proposed method.     

Linux环境下基于Agent的自主机器人仿真系统

针对复杂、不可预测环境下自主机器人系统的特点,研究开发了自主机器人仿真系统（AR－SIM）。本文介绍了AR－SIM的设计目的、系统特点、系统结构,以及在Linux环境下现,并提出了一种基于Agent的自主机器人控制结构。     

室外智能移动机器人的发展及其关键技术研究

室外智能移动机器人有着广泛的应用前景,是机器人研究中的热点之一．本文分析 了在室外移动机器人发展中有着代表意义的几个典型系统,进而论述了室外移动机器人研究 中的若干关键技术的研究现状及发展水平．这些关键技术包括移动机器人的控制体系结构、 机器人视觉信息的实时处理技术、车体的定位系统、多传感器信息的集成与融合技术以及路 径规划技术与车体控制技术等．     

A distributed architecture for supervision of autonomous multi-robot missions

Realizing long-term autonomous missions involving teams of heterogeneous robots is a challenge. It requires mechanisms to make robots react to disturbances or failures that will arise during the mission, while trying to successfully achieve the mission in cooperation. This paper presents HiDDeN, a distributed deliberative architecture that manages the execution of a hierarchical plan. This plan has initially been computed offline, ensuring some military operational constraints of the mission. Each robot’s supervisor then executes its own part of the plan, and reacts to failures using a hierarchical repair approach. This hierarchical repair has been designed with the sake of ensuring operational constraints, while reducing the need of communication between robots, as communication may be intermittent or even nonexistent when the robots operate in completely separate environments. HiDDeN’s robustness and scalability is evaluated with simulations. Experiments with an autonomous helicopter and an autonomous underwater vehicle have been realized and are presented as the defining point of our contribution.     

Current trends in the development of intelligent unmanned autonomous systems

Intelligent unmanned autonomous systems are some of the most important applications of artificial intelligence (AI). The development of such systems can significantly promote innovation in AI technologies. This paper introduces the trends in the development of intelligent unmanned autonomous systems by summarizing the main achievements in each technological platform. Furthermore, we classify the relevant technologies into seven areas, including AI technologies, unmanned vehicles, unmanned aerial vehicles, service robots, space robots, marine robots, and unmanned workshops/intelligent plants. Current trends and developments in each area are introduced.     

View planning in robot active vision: A survey of systems,algorithms, and applications

Computational Visual Media - Rapid development of artificial intelligence motivates researchers to expand the capabilities of intelligent and autonomous robots. In many robotic applications, robots...     

Fuzzy rule-based environment-aware autonomous mobile robots for actuated touring

Intelligent Service Robotics - The involvement of computer-programmed autonomous mobile robots in real-time activities is emerging in the recent years. The actuation and interaction of the robots...     

移动机器人长期自主环境适应研究进展和展望

真实世界中存在光照、天气、季节及场景结构等复杂环境因素, 这些因素的改变对移动机器人基本行为和任务能力带来巨大挑战.随着机器人与人工智能技术的不断发展, 如何使移动机器人在长期运行中与复杂多变的环境条件相适应是智能机器人领域的研究热点.本文重点从地图构建与动态维护、重定位及场景理解等移动机器人基本行为能力的系统综述入手, 对移动机器人长期自主环境适应的前沿技术与研究方向进行了着重论述与分析.最后对该领域的研究重点和技术发展趋势进行了探讨.     

Behavior analysis and training-a methodology for behaviorengineering

We propose Behavior Engineering as a new technological area whose aim is to provide methodologies and tools for developing autonomous robots. Building robots is a very complex engineering enterprise that requires the exact definition and scheduling of the activities which a designer, or a team of designers, should follow. Behavior Engineering is, within the autonomous robotics realm, the equivalent of more established disciplines like Software Engineering and Knowledge Engineering. In this article we first give a detailed presentation of a Behavior Engineering methodology, which we call Behavior Analysis and Training (BAT), where we stress the role of learning and training. Then we illustrate the application of the BAT methodology to three cases involving different robots: two mobile robots and a manipulator. Results show the feasibility of the proposed approach.     

Design of an autonomous agricultural robot

This paper presents a state-of-the-art review in the development of autonomous agricultural robots including guidance systems, greenhouse autonomous systems and fruit-harvesting robots. A general concept for a field crops robotic machine to selectively harvest easily bruised fruit and vegetables is designed. Future trends that must be pursued in order to make robots a viable option for agricultural operations are focused upon.A prototype machine which includes part of this design has been implemented for melon harvesting. The machine consists of a Cartesian manipulator mounted on a mobile chassis pulled by a tractor. Two vision sensors are used to locate the fruit and guide the robotic arm toward it. A gripper grasps the melon and detaches it from the vine. The real-time control hardware architecture consists of a blackboard system, with autonomous modules for sensing, planning and control connected through a PC bus. Approximately 85% of the fruit are successfully located and harvested.     

Symbiosis with artificial intelligence via the prism of law,robots, and society

The rapid advances in Artificial Intelligence and Robotics will have a profound impact on society as they will interfere with the people and their interactions. Intelligent autonomous robots, independent if they are humanoid/anthropomorphic or not, will have a physical presence, make autonomous decisions, and interact with all stakeholders in the society, in yet unforeseen manners. The symbiosis with such sophisticated robots may lead to a fundamental civilizational shift, with far-reaching effects as philosophical, legal, and societal questions on consciousness, citizenship, rights, and legal entity of robots are raised. The aim of this work is to understand the broad scope of potential issues pertaining to law and society through the investigation of the interplay of law, robots, and society via different angles such as law, social, economic, gender, and ethical perspectives. The results make it evident that in an era of symbiosis with intelligent autonomous robots, the law systems, as well as society, are not prepared for their prevalence. Therefore, it is now the time to start a multi-disciplinary stakeholder discussion and derive the necessary policies, frameworks, and roadmaps for the most eminent issues.